Оригинал (Original)
Автори: Славов, Д. В.
Заглавие: АВТОНОМНА РОБОТИЗИРАНА СИСТЕМА ЗА СЛЕДЕНЕ НА ЛИНИЯ
Ключови думи: mobile robot, line tracking, computer vision, Arduino, Pixy

Абстракт: This paper describes an autonomous mobile robot system for line tracking. It consists of a three-wheel platform, Arduino microcontroller and smart camera Pixy2 for computer vision. Based on the x and y coordinates at both ends of the visible line (vector), measured by the camera, vector gradient is calculated and weight factors are adaptively determined for generating a two-component error fed to a PID controller. The feedback control successfully drives the robot over the line even in the presence of sharp turns.

Библиография

    Издание

    Международна конференция АВТОМАТИКА И ИНФОРМАТИКА'2019, 2019, България, София, ISSN 1313-1850

    Пълен текст на публикацията

    		Autors: Slavov, D. V.
    Title: AUTONOMOUS ROBOTIC LINE TRACKING SYSTEM
    Keywords: mobile robot, line tracking, computer vision, Arduino, Pixy

    Abstract: This paper describes an autonomous mobile robot system for line tracking. It consists of a three-wheel platform, Arduino microcontroller and smart camera Pixy2 for computer vision. Based on the x and y coordinates at both ends of the visible line (vector), measured by the camera, vector gradient is calculated and weight factors are adaptively determined for generating a two-component error fed to a PID controller. The feedback control successfully drives the robot over the line even in the presence of sharp turns.

    References

      Issue

      International Conference АUTOMATICS AND INFORMATICS'2019, 2019, Bulgaria, Sofia, ISSN 1313-1850

      Full text of the publication

      Вид: публикация в международен форум